In this paper the application of a novel controller design approach to a torque vectoring concept is presented. An electrically driven road vehicle with two independent motors is considered, for which a good tracking of longitudinal velocity and yaw rate is to be achieved. For this vehicle an LPV model is developed in linear-fractional transformation (LFT) representation. Based on this, a gain-scheduled controller is designed using parameter-dependent quadratic Lyapunov functions and parameter-dependent shaping filters. In order to avoid performance degradations due to saturation effects, a Torque and Slip Limiter (TSL) scheme in polytopic LPV form is used. Choices both of Lyapunov functions and shaping filters turn out to have a significant influence on the controller performance; this is illustrated in simulation examples. The vehicle is simulated using a 14-degrees-of-freedom vehicle model including a Pacejka tire model. The results indicate a significant performance improvement compared to previous approaches using polytopic LPV controller design with parameter-independent shaping filters. © 2013 AACC American Automatic Control Council.


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    Title :

    LPV torque vectoring for an electric vehicle using parameter-dependent Lyapunov functions


    Contributors:
    Bartels, Marcus (author) / Liu, Qin (author) / Kaiser, Gerd (author) / Werner, Herbert (author)

    Publication date :

    2013-01-01


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629 / 620



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